7 accepted papers
Efficient exploration of unknown environments is crucial for autonomous robots, especially in confined and large-scale scenarios with limited communication. To address this challenge, we propose a collaborative exploration framework for a marsupial ground-aerial robot team that leverages the complem
This work presents a camera model for refractive media such as water and its application in underwater visual-inertial odometry. The model is self-calibrating in real-time and is free of known correspondences or calibration targets. It is separable as a distortion model (dependent on refractive inde…
This paper contributes a novel strategy for semantics-aware autonomous exploration and inspection path planning. Attuned to the fact that environments that need to be explored often involve a sparse set of semantic entities of particular interest, the proposed method offers volumetric exploration co…
This paper presents a novel strategy for autonomous teamed exploration of subterranean environments using legged and aerial robots. Tailored to the fact that subterranean settings, such as cave networks and underground mines, often involve complex, large-scale and multi-branched topologies, while wi…
This paper contributes a novel strategy towards risk-aware motion planning for collision-tolerant aerial robots subject to localization uncertainty. Attuned to the fact that micro aerial vehicles are often tasked to navigate within GPS-denied, possibly unknown, confined and obstacle-filled environme…
In this work, we present an adaptive behavior path planning method for autonomous exploration and visual search of unknown environments. As volumetric exploration and visual coverage of unknown environments, with possibly different sensors, are non-identical objectives, a principled combination of t…
This paper presents a novel path planning strategy for fast and agile exploration using aerial robots. Tailored to the combined need for large-scale exploration of challenging and confined environments, despite the limited endurance of micro aerial vehicles, the proposed planner employs motion primi…